\begin{table}[h]
\centering
\begin{tabular}{|c|c|c|c|c|}
\hline
veličina&RO$1$&RO$2$&RO$3$&RO$4$\\
\hline
\multicolumn{5}{|c|}{sledované výstupy (RMSE)}\\
\hline
$\varphi$ $(rad)$&$1.725e-02$&$1.723e-02$&$1.548e-02$&$1.548e-02$\\
\hline
$\dot{\varphi}$ $(rad/s)$&$1.292e-02$&$1.302e-02$&$1.301e-02$&$1.301e-02$\\
\hline
$Y$ $(m)$&$2.776e-01$&$2.737e-01$&$2.601e-01$&$2.601e-01$\\
\hline
\multicolumn{5}{|c|}{actuator activity (RMSE)}\\
\hline
$\delta f$ $(^\circ)$&$2.498e-03$&$2.527e-03$&$3.015e-03$&$3.015e-03$\\
\hline
$s_{fl}$ $(-)$&$7.761e-06$&$7.855e-06$&$1.023e-05$&$1.023e-05$\\
\hline
$s_{fr}$ $(-)$&$2.125e-05$&$2.070e-05$&$1.005e-05$&$1.005e-05$\\
\hline
\multicolumn{5}{|c|}{Ostatní veličiny}\\
\hline
velikost QP problému&$33$&$12$&$6$&$3$\\
\hline
RMSE poruseni $(rad/s)$&$3.555e-03$&$4.692e-03$&$4.504e-02$&$4.504e-02$\\
\hline
\end{tabular}
\caption{Výsledky redukce měkkých omezení.}
\label{tab:redeni_omezeni}
\end{table}
